Given a general metric, $g_{ab}$ I can select an orthonormal basis $\omega^{a}$ such that,
$$g_{ab} = \eta_{ab}\omega^a \otimes \omega^b$$
where $\eta_{ab}$ = $\mathrm{diag}(1,-1,-1,-1).$ We may conveniently compute the spin connection and curvature form by employing Cartan's equations. The problem I have lies in getting back to the coordinate basis. I know the general formula,
$$R^{\mu}_{\nu \lambda \tau} = (\omega^{-1})^{\mu}_a \, \omega^b_\nu \, \omega^c_\lambda \, \omega^d_\tau \, R^{a}_{bcd}$$
where the l.h.s. $R^{\mu}_{\nu \lambda \tau}$ is in the coordinate basis. The objects $\omega^b$ are familiar, they're just the orthonormal basis, so what is the object $\omega^b_\nu$ (with the extra index)? The $(\omega^{-1})^{\mu}_a$ are the inverse vielbeins? How are these obtained?
I've visited several sources, including Wikipedia, but it's still not 100% clear. I'd appreciate any clarification, especially a small explicit example if possible.